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Electrical Power and Energy Systems: Zhiyong Chen, An Luo, Huajun Wang, Yandong Chen, Mingshen Li, Yuan Huang
Electrical Power and Energy Systems: Zhiyong Chen, An Luo, Huajun Wang, Yandong Chen, Mingshen Li, Yuan Huang
a r t i c l e i n f o a b s t r a c t
Article history: Harmonic current caused by nonlinear loads and parametric variations of output filter of inverters make
Received 12 February 2014 popular proportional–integral–derivative (PID) voltage controller far beyond excellent performance in
Received in revised form 27 October 2014 case of microgrid operating in islanded mode. Motivated by this limitation, this paper proposes an adap-
Accepted 31 October 2014
tive sliding-mode controller (ASMC) to enhance disturbance-rejection performance of control system of
Available online 19 November 2014
islanded parallel inverters. And adaptive algorithms are designed to observe external disturbances and
internal perturbation so as to guarantee the globe robustness of control system of inverter. The switching
Keywords:
gain of control input is designed to be a time-varying value which effectively reduces undesirable chat-
Chattering reduction
Islanded microgrid
tering of control input signal. Simulating and experimental results are presented that the total harmonic
Parallel inverters distortion, chattering, and steady-state error of output voltage of islanded parallel inverters are
Parametric perturbation effectively reduced and the dynamic performances and the capability of perturbation rejection of control
Robustness system of inverter are effectively enhanced.
Sliding-mode controller (SMC) Ó 2014 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.ijepes.2014.10.054
0142-0615/Ó 2014 Elsevier Ltd. All rights reserved.
134 Z. Chen et al. / Electrical Power and Energy Systems 66 (2015) 133–143
non-selected ones. Its means that a slightly deviation of the fre- internally parametric uncertainties and external disturbances, is
quency of selected harmonic component will largely deteriorate only possessed in sliding mode. In brief, the robustness of SMC
control performance. Therefore, how to design a voltage controller system does not exist in reaching phase. Thus, the SMCs designed
for inverters operating in islanded microgrid with low steady-state in [13–21] with reaching phase cannot guarantee global
tracking error and high robustness has become one of the focuses robustness for the whole control system. Nonetheless, in contrast
of the research. to sliding mode, the time scale of reaching phase is relatively short.
Sliding-mode controller (SMC) is an effective nonlinear robust And in [25] three kinds of reaching law approaches are proposed to
controller with invariant control effect to internal perturbations reduce the reaching time and chattering. On the other hand, large
and external disturbances if the controlled state trajectory slides switching gain causes undesirable chattering which might
along the designed sliding surface. Therefore, SMC is an alternative deteriorate ideal sliding-mode dynamics and the robustness of
to control system of inverter operating in islanded microgrid with SMC system. In spite of this drawback, a conservative large switch-
a lot of nonlinear loads. From the point of view of modulation ing gain has to be chosen. The reason is that the switching gain of
strategies, SMCs are categorized into two types: hysteresis-based control input should large enough to counteract the effectiveness
[13–18] and PWM-based [19–23,26]. of the worst external disturbances and internal perturbations for
The switching frequency of hysteresis-based SMC is not fixed. In the purpose of fulfilling the existence condition of sliding mode.
order to reduce excessively high frequency of power switches, in However, in engineering practice, the precise boundary of lumped
[13], the signum function of control law is replaced by two-level uncertainties and disturbances are difficulty to obtain. Thus,
hysteresis function. And the effectiveness of voltage tracking influ- switching gain is always chosen to be conservative large constant
enced by filter-capacitance variation is quantitatively analyzed, value, such as in [20].
but the existence region of sliding mode and transient response According to aforementioned analysis, the motivation of this
influenced by the coefficients of sliding surface are only study is to design high-performance PWM-based sliding-mode
qualitatively analyzed. In [15], three-level hysteresis function of voltage controller to deal with two drawbacks it has. In order to
control law is a substitute for two-level one, which further reduces eliminate the reaching phase and to guarantee the global
switching frequency compared to [13]. And the analysis of robustness, a three-order PID sliding surface with two adaptive
existence region of sliding mode is quantitatively conducted in algorithms is designed. In order to reduce chattering, adaptive
[15]. In [16], the coefficients of sliding surface regulated by fuzzy algorithm to observe internal parameters and boundary of external
logic algorithm are time-varying values which improve dynamic disturbances are designed. The proposed adaptive SMC (ASMC) can
response speed of output voltage by increasing the slope of achieve real-time estimation of the values of internal parameters
two-dimensional sliding surface in the phase space during the and the boundary of external disturbances by only measuring
transient of load current disturbances. filter-capacitor voltage. And adaptive switching gain represented
In spite of hysteresis-based SMC addressing the problem of the the boundary of external disturbance not only completely counter-
excessively high frequency of inverters, the problem of variable act the effectiveness of external disturbance, but also tremen-
switching frequency which makes the process of designing output dously reduce the chattering of control input signal.
filter difficult should be carefully handled. In [17], an adaptive This paper is organized as follows: at first, the dynamics of
feed-forward control that varies the hysteresis band in the event inverter operating in islanded microgrid is described. Next,
of any change of input voltage is introduced to keep the switching adaptive algorithms associated with switching gain and internal
frequency of hysteresis-based SMC constant. However, in [17] the uncertainties are developed respectively. Then, asymptotic
objective of control is merely focused on single power switch such stability of the ASMC system is rigorously proved. Finally, some
as buck or boost converter for that reason this approach is not comparative simulations and experiments between PID voltage
directly applied to multiple-switch inverter. In [18] the signum controller, conventional and adaptive SMC are investigated and
function of control law is replaced by a reverse-saturating function the results are presented that total harmonic distortion, chattering,
in order to reduce chattering effectively. The PWM signal is and steady-state error of output voltage are effectively reduced
generated by means of the comparison between switching function and the dynamic performances and the capability of perturbation
and triangular carrier. Moreover, the modulating wave is not rejection for control system of inverter are effectively enhanced.
equivalent control signal during each switching period. Thus, the And then, the security of islanded microgrid is enhanced.
approach in [18] should be categorized into hysteresis-based type.
In order to avoid the problem of frequency variation of hyster- Dynamics of inverter operating in islanded microgrid
esis-based SMC system, PWM-based SMC using equivalent control
law is an alternative approach. In [19], a feed-forward reference Fig. 1 shows the schematic diagram of parallel inverters
voltage as a compensation term is added to the output of SMC in operating in islanded microgrid. Subscript n denotes the n-th
order to decrease the steady-state error of voltage tracking. A ter- inverter. i, ic, and io are the currents of filter inductor, the filter
minal SMC with non-linear sliding surface is developed in [20], and capacitor, and the load, respectively; uin, uo are the average output
an integral compensation term is added to the control law in order voltages of inverter and filter capacitor during a switching period,
to enhance the convergence rate of voltage-tracking error. In [21], respectively; Rf is parasitic resistance (equivalent series resistor)
the switching function in the control loop of stator voltage is in filter inductor; Lf, Cf are the filter inductor and capacitor,
replaced by a time-varying feedback gain multiplied by designed respectively; Lg, Rg are the grid-side inductance and resistance,
sliding surface so as to reduce the chattering of permanent magnet respectively; ZL denotes lumped nonlinear loads; upcc is the PCC
synchronous drive system. The idea of total SMC with three- voltage; E⁄, x⁄ are the amplitude and frequency of nominal voltage
dimensional PID sliding surface is adopted in [22–24], in which of droop control, respectively; ur is the reference output voltage of
the state trajectory in reaching phase is eliminated. And in [24], inverter. udc is the dc bus voltage considered as a constant value
an adaptive prediction of upper boundary of disturbances of induc- due to a capacitor with large inertia commonly placed among the
tion servomotor system is investigated, reducing the chattering of dc bus.
the control system. The average active power is obtained by multiplying io and upcc,
It should be noted that conventional SMCs have two main and then using a low-pass filter. And the average reactive power is
drawbacks. On the one hand, the robustness (invariability) of obtained by multiplying io and ninety-degree-delaying of upcc, and
SMC system, which means a system is completely insensitive to then using a low-pass filter. ur can be obtained by droop-control
Z. Chen et al. / Electrical Power and Energy Systems 66 (2015) 133–143 135
Fig. 1. The schematic diagram of parallel inverters system operating in islanded microgrid.
algorithm. Due to the limited length of this paper, further discus- other words, io is regarded as an external disturbance inherently
sion with droop control is not included and the references listed imposing on the dynamic model of inverter.
in [1,2,5,6,9] are highly recommended.
Without considering inverter gain as well as neglecting non- Adaptive sliding-mode voltage controller
fundamental component of inverter output voltage, uin can also
be regarded as the output of voltage controller. As mentioned in section ‘Dynamics of inverter operating in
Based on the Kirchhoff’s circuit law, three equations of closed islanded microgrid’, io is regarded as the inherent disturbance of
circuit shown in Fig. 1 are obtained as follows the controlled system. Then, the dynamics of inverter system is
di re-expressed as
Lf þ Rf i ¼ uin uo ð1Þ
dt 2
d uo duo
Lf C f 2
þ Rf C f þ uo þ d ¼ uin ð5Þ
dt dt
duo
Cf ¼ i io ð2Þ
dt where d is the external disturbance associated with io, and
expressed as d ¼ Lf ðdio =dtÞ þ Rf io .
dio By choosing uo as the state variable of the controlled system and
Lg þ Rg io þ Z L io ¼ uo ð3Þ
dt uin as the control input, Eq. (5) can be rearranged as
Then, the dynamics of islanded inverter system can be obtained € o ¼ h2 u_ o uo d þ uin
h1 u ð6Þ
by manipulation on Eqs. (1) and (2), expressed as follows
where h1 = LfCf, h2 = RfCf.
2
d uo duo dio Assumption that internal parameters h1, h2 are known and
Lf C f 2
þ Rf C f þ uo þ Lf þ Rf io ¼ uin ð4Þ
dt dt dt without perturbation and d = 0, then, the control law can be
designed as
From Eq. (4), it can be seen that uin, uo and io can be regarded as
three variables of dynamics of inverter system. € r h2 u_ o þ uo ki e kp e_
uin ¼ h1 u ð7Þ
The dynamics of an islanded inverter can be depicted in Fig. 2
where e denotes voltage-tracking error, defined as e = uo ur. kp, ki
through Laplace transformation of Eqs. (3) and (4), where s is the
are the coefficients of sliding surface.
Laplace operator and Z sL denotes the expression after Laplace trans-
By substituting Eq. (7) into Eq. (6), the dynamic equation of
formation of ZL Z sL ¼ LðZ L Þ .
inverter turns into
Because ZL represents lumped loads with many power
electronic devices possessing time-varying and nonlinear feature h1 €e þ kp e_ þ ki e ¼ 0 ð8Þ
connecting to microgrid, the quantity of which hardly measure in
Properly choosing the values of kp and ki, the designed system’s
practice. From Fig. 2, io is the function of uo associated with ZL. In
dynamic characteristics such as rise time, overshoot and settling
time can be easily determined by the second-order system
described as Eq. (8).
For the controlled system, two major uncertainties should NOT
be neglected: (1) the influence of the upper boundary of external
disturbance associated with io cannot be counteracted until a
sufficiently large switching gain is chosen to cope with the worst
operating conditions like islanded/grid-connected mode transition.
However, this switching gain with a large constant value leads to
the state trajectory significantly deviating from sliding surface,
Fig. 2. The block diagram of an islanded inverter. causing undesirable chattering and non-linear sliding motion
136 Z. Chen et al. / Electrical Power and Energy Systems 66 (2015) 133–143
effects, which might reduce robustness of SMC system; (2) the According to (13) and (15), V1, V_ 1 are positive definite and negative
internal perturbation of h1 and h2 reduce the accuracy of semi-definite function, respectively. Furthermore, the conditions of
the described dynamic model of inverter, which deteriorates the ~1 ðtÞ; h
V1 > 0 and V_ 1 < 0 are NOT always fulfilled until ½Su ðtÞ; h ~2 ðtÞ –
robustness of control system. As a result, if using the control law ½0; 0; 0. Hence, the origin of SMC system, namely ½Su ðtÞ; h ~1 ðtÞ;
of (7) without dealing with these uncertainties in practical applica- ~ 2 ðtÞ ¼ ½0; 0; 0, is asymptotically stable.
h
tions, the control effect of Eq. (8) cannot be guaranteed. Multiplying both sides of Eq. (6) by kd and then substituting Eq.
In order to address aforementioned problems, the main (11) into Eq. (6), we get
guideline of the layout of SMC is to design adaptive algorithms to
^1 ðtÞu
€ o kd h
½kd h1 ðtÞu ^1 ðkp e_ þ k eÞ
€r þ h
estimate the upper boundary of external disturbances and to i
real-timely observe internal parameters. And theoretical analysis ^2 ðtÞu_ o þ ½k dðtÞ k qsgnðsðtÞÞ
¼ ½kd h2 ðtÞu_ o kd h ð16Þ
d d
and the design for adaptive algorithms will be further discussed
in this section. If the switching gain q and the observational errors of h1 and h2
fulfill the conditions as follows
Adaptive algorithm to observe internal parameters 8
< qsgnðsðtÞÞ ¼ dðtÞ
>
~1 ¼ 0
h ð17Þ
For the purpose of eliminating reaching phase and decreasing >
:~
steady errors causing by nonlinear sliding motion, the three-order h2 ¼ 0
sliding surface is selected, expressed as
Z then, Eq. (16) turns into
t
Su ðtÞ ¼ kp e þ ki e ds þ kd e_ ð9Þ kd €e þ kp e_ þ ki e ¼ 0 ð18Þ
0
where kp, ki, and kd are the coefficients of sliding surface. According to Eqs. (18) and (15), it implies that S_ u ðtÞ ¼ 0 and
Taking the time differentiation of Eq. (9) as Su ð0Þ ¼ 0, this means that the sliding-mode motion of state trajec-
tory is guaranteed throughout the whole control period (t > 0). In
S_ u ðtÞ ¼ kd €e þ kp e_ þ ki e ¼ kd ðu
€o u
€ r Þ þ kp e_ þ ki e ð10Þ other words, the reaching phase of motion state of the SMC system
is completely eliminated.
and the control law could be designed as follows
8 It should be noted that the design of SMC which has reaching
>
> uin ¼ uin sw þ uin tr phase needs to ensure V_ 1 < gjSu ðtÞj, where, g is a positive con-
>
>
< uin sw ¼ qðtÞsgnðSu ðtÞÞ stant. And g specifies the dynamic characteristics of state trajec-
" #
> ^1 ðtÞk e þ kp e_ k u ð11Þ tory approaching to sliding surface on which the robustness of
> 1 h i d €r
>
: uin tr ¼ kd
>
^2 ðtÞðk u_ o Þ k uo
SMC system is possessed [25]. Nonetheless, the control law of
þh d d Eq. (11) with adaptive observer of Eq. (12) in the case of satisfying
where uin sw ; uin tr are the switching term and the tracking term of the conditions of Eq. (17) can eliminate the reaching phase and
control input, respectively; qðtÞ is the switching gain and should ensure global robustness of the control system. Therefore, the
fulfill with the existence condition of sliding mode given byqðtÞ > reaching condition of sliding surface Su ðtÞ ¼ 0 can be fulfilled by
^ 1 ðtÞ; h
jdðtÞj; h ^2 ðtÞ are the observational values of h1 ðtÞ; h2 ðtÞ, Eq. (15).
respectively. And the adaptive algorithm of h ^ 1 ðtÞ; h
^ 2 ðtÞ could be The existence condition of sliding mode is fulfilled by
designed as qðtÞ > jdðtÞj. qðtÞ should track the boundary of external distur-
8 bance associated with io. In spite of the fact that qðtÞ should be
<h^_ 1 ðtÞ ¼ c ðk e þ kp e_ k u larger than the upper boundary of worst disturbance so as to
1 i d € r ÞSu ðtÞ
ð12Þ satisfy the existence condition of sliding mode, The switching gain
: ^_
h2 ðtÞ ¼ c2 ðkd u_ o ÞSu ðtÞ with a large constant value multiplied with a signum function of
sgn(s(t)) will result in serious chattering phenomena in control
where c1, c2 are the positive constants and represent the adaptive
input signal then will significantly deviate state trajectory from
coefficients of h1, h2, respectively.
sliding surface and will eventually deteriorate the robustness of
In order to prove the stability of SMC system for inverters oper-
control system.
ating in islanded microgrid in which the dynamics of an individual
inverter depicted as Eq. (6) and the voltage controller described as
Eq. (11) and the adaptive observer of internal parameter shown in Adaptive algorithm of switching gain
Eq. (12), a Lyapunov candidate function is figured out as follows
The discontinuity of the switching term of control input signal
~2 ðtÞÞ ¼ 1 h1 ðtÞS2 ðtÞ þ 1 h
~1 ðtÞ; h
V 1 ðSu ðtÞ; h ~2 ðtÞ þ 1 h
~2 ðtÞ ð13Þ
is the essential reason for chattering. An underlying assumption
u
2 2c1 1 2c2 2 in variable-structure-control (VSC) theory is that the control can
~1 ðtÞ ¼ h1 ðtÞ h
^ 1 ðtÞ; h
~ 2 ðtÞ ¼ h2 ðtÞ h
^2 ðtÞ are defined as the be switched from one value to another at will, infinitely fast. In
where h
the control system of inverters, however, it is impossible to achieve
observational errors of h1(t), h2(t), respectively.
sufficiently high switching control which is necessary to most SMC
Taking time differentiation of Eq. (13) as
designs. There are three reasons for this. One cause is finite time
1~ ^_ 1~ ^_ 2 ðtÞ delays for adaptive-control computation and signal sampling of
V_ 1 ¼ h1 ðtÞSu ðtÞS_ u ðtÞ þ h 1 ðtÞ h1 ðtÞ þ h2 ðtÞ h
c1 c2 DSP. The second cause is the inductance exists in LC filters,
(h i )
^1 ðtÞ ðk e þ kp e_ k u ^ transformers and power cable in which the current is impossible
h1 ðtÞ h i d € r Þ þ ðh2 h2 Þðkd u_ oÞ
¼ Su ðtÞ
to switch at infinitely fast rate. The last cause is the limitation of
þkd ½qðtÞsgnðSu ðtÞÞ dðtÞ
switching frequency of power switches. Since it is impossible to
1~ ^_ 1 ðtÞ þ 1 h ~2 ðtÞ h^_ 2 ðtÞ
þ h1 ðtÞ h ð14Þ switch the control at infinite rate, chattering always occurs in
c1 c2
sliding mode of SMC system and can only be diminished under a
then, substituting (11) and (12) into (14), we get certain extent.
When it comes to choosing a proper switching gain, there is a
V_ 1 ¼ kd ½qðtÞsgnðSu ðtÞÞ dðtÞSu ðtÞ 6 0 ð15Þ
tradeoff between chattering reduction and the fulfillment of
Z. Chen et al. / Electrical Power and Energy Systems 66 (2015) 133–143 137
where q^_ ðtÞ is the observational value of qðtÞ, and c3 > 0 denotes the 1 1 ~2 1 ~2 1 2
V2 ¼ h1 ðtÞS2u ðtÞ þ h ðtÞ þ h ðtÞ þ q~ ðtÞ ð21Þ
adaptive coefficient of switching gain. 2 2c1 1 2c2 2 2c3
Substituting q(t) for q ^ ðtÞ in Eq. (11), and the switching term of
where q~ ¼qq ^ is defined as observational errors of q.
control input is re-expressed as
Setting time differentiation of V2 and taking Eqs. (14), (15), and
uin sw ¼ q
^ ðtÞsgnðSu ðtÞÞ ð20Þ (19) into account, we get
The block diagram of the control structure of ASMC is depicted 1~ ^_ 1~ ^_ ðtÞ
V_ 2 ¼ h1 ðtÞSu ðtÞS_ u ðtÞ þ h 1 ðtÞ h1 ðtÞ þ h2 ðtÞ h 2
in Fig. 3. The block of Su calculation refers to Eq. (9); the block of c1 c2
tracking term refers to Eq. (11); the block of switching term refers 1
to Eq. (20); the block of observer refers to Eqs. (12) and (19). þ q~ ðtÞ q^_ ðtÞ ¼ kd dðtÞSu ðtÞ kd qðtÞjSu ðtÞj
c3
The whole control system described as follow: The dynamics of
6 kd jdðtÞjjSu ðtÞj kd qðtÞjSu ðtÞj ¼ kd ðjdðtÞj qðtÞÞjSu ðtÞj 6 0 ð22Þ
inverter operating in islanded microgrid is depicted as Eq. (6); the
tracking term and the switching term of control input of ASMC are Since V_ 2 is a negative semi-define function, the energy function
described as Eqs. (11) and (20), respectively; And the adaptive V2 is a non-increasing function with respect to time. Furthermore,
algorithms for h1, h2, and d are designed as Eqs. (12) and (19), it can deduce that Su, h ~1 ; h
~ 2 and q
~ are bounded functions.
respectively. In order to prove the global asymptotic stability of Defining the following function
Fig. 9. The filter-capacitor voltages by using different voltage controllers in the case
of filter inductance varying from 50% to 50% of nominal values (a) PID voltage Fig. 11. The prototype of photovoltaic inverters system (a) Photovoltaic array and
controller, (b) CSMC and (c) ASMC. (b) parallel Inverters.
Fig. 10. The filter-capacitor voltages and the load currents by using different voltage controllers during the transient of sudden load connection (a) PID voltage controller, (b)
CSMC, (c) ASMC, and (d) load current.
Z. Chen et al. / Electrical Power and Energy Systems 66 (2015) 133–143 141
When another set of nonlinear load of the same size suddenly In order to verify whether ASMC system has better robustness
connects among two parallel inverters at 0.065 s, the filter- compared with the systems using PID voltage controller and
capacitor voltages and the load currents from one of the CSMC, a prototype is built based on the test panel of 2KW
two inverters by using different voltage controllers during single-phase photovoltaic inverter system in our laboratories,
the transient are depicted in Fig. 10. By comparison, it can be shown in Fig. 11. The prototype consists of photovoltaic array,
seen that ASMC system can distinctly reduce current peak and DC/DC boost circuits, fully-controlled H-bridge inverters, LC filter
shorten the settling time during the transient of sudden load circuits and nonlinear load. The photovoltaic array uses single
connection. crystal silicon solar cells with 2 kW rated power. The photovoltaic
Fig. 12. Experimental waveforms of the filter-capacitor voltages and the load Fig. 13. Experimental waveforms of the filter-capacitor voltages and the load
currents of a single inverter by using three controllers during the transient of the currents of inverter 1 by using three controllers during the transient of sudden non-
amplitude of reference-voltage signal arising to 220 V from 110 V (X-axis: 10 ms/ linear load connection (X-axis: 10 ms/div, Y-axis:70 V/div, 5 A/div, purple line
div, Y-axis: 70 V/div, 5 A/div, purple line denotes voltage; yellow line denotes denotes voltage; yellow line denotes current) (a) PID voltage controller, (b) CSMC
current) (a) PID, (b), CSMC and (C) ASMC. (For interpretation of the references to and (c) ASMC. (For interpretation of the references to color in this figure legend, the
color in this figure legend, the reader is referred to the web version of this article.) reader is referred to the web version of this article.)
142 Z. Chen et al. / Electrical Power and Energy Systems 66 (2015) 133–143
array connects inverter through DC/DC boost circuit. In order to Defined the item of (14) as
clamp dc-link voltage of inverter from oscillation, the parallel
capacitor (3000 lF, 450 V) installed in dc link is needed. In the fully h1 Su ðtÞS_ u ðtÞ ¼ V_ 3 ðA:1Þ
controlled H-bridge inverter, an insulated-gate bipolar transistor
(IGBT) intelligent power modules (PM50B5LA060), manufactured substituting (10) and (6) into (A.1), it yields
by Mitsubishi Corporation, is selected. The designed algorithms
V_ 3 ¼ h1 Su ðtÞ kd €e þ kp e_ þ ki e
in this study are implemented by 32-bits digital-signal-processor
(DSP) TMS320F2812 which manufactured by TI Company. And ¼ h1 Su ðtÞ kd ðu€o u
€ r Þ þ kp e_ þ ki e
carrier frequency of PWM is set up to 12.8 kHz. The nonlinear load
¼ Su ðtÞ kd ðh2 u_ o uo d þ uin Þ h1 kd u € r þ h1 kp e_ þ h1 ki e
is composed of a diode rectifier paralleled with RLC load
(100 X + 4 mH + 1000 lF). Other parameters are same as in ¼ Su ðtÞ h1 ðki e þ kp e_ kd u € r Þ þ h2 ðkd u_ o Þ kd uo kd dðtÞ þ kd uin
simulation (in Table 1). ðA:2Þ
Fig. 12 shows the experimental waveforms of the filter-
And substituting (11) into (A.2), is yields
capacitor voltages and the load currents of a single inverter by
using three controllers during the transient of the amplitude of
8h i 9
> ^ €r >
reference-voltage signal arising to 220 V from 110 V. The steady- > h1 ðtÞ h1 ðtÞ ki e þ kp e_ kd u
>
<
>
>
=
_V 3 ¼ Su ðtÞ h i
state tracking error of the filter-capacitor voltage by using PID þ h ðtÞ ^
h ðtÞ ð k _
u Þ ðA:3Þ
>
> 2 2 d o >
>
controller is worse, as shown in Fig. 12(a). And the chattering >
: >
;
occurred on filter-capacitor voltage by using CSMC is obvious, as þkd ½qsgnðSu ðtÞÞ d
shown in Fig. 12(b). By using ASMC, filter-capacitor voltage has less
Therefore, (A.3) is the fist resultant item of (14).
steady-state error, less chattering and better dynamic perfor-
mance, as shown in Fig. 12(c) and the current peak of load current
is lower than by using other controllers. Appendix B
Fig. 13 shows experimental waveforms of the filter-capacitor
voltages and the load currents of inverter 1 by using three The derivation of (22).
controllers during the transient that another set of nonlinear load Considering (14) and (15), then
of the same size is suddenly connected among two parallel
inverters. By using PID controller and CSMC, the voltages of filter 1~ ^_ 1~ ^_ 2 ðtÞ
V_ 2 ¼ h1 ðtÞSu ðtÞS_ u ðtÞ þ h 1 ðtÞ h1 ðtÞ þ h2 ðtÞ h
capacitor appear obviously peak during the load transient, as c1 c2
shown in Fig. 13(a) and (b). Thanks to the invariance characteristic 1
of ASMC system, the filter-capacitor voltage is less sensitive to this þ q~ ðtÞ q^_ ðtÞ
c3
transient, as shown in Fig. 13(c).
1
¼ V_ 2 þ q ^_ ðtÞ
~ ðtÞ q
c3
Conclusion 1
¼ kd ðq
^ ðtÞsgnðSu ðtÞÞ dðtÞÞSu ðtÞ þ q~ ðtÞ q^_ ðtÞ
c3
This paper presents a nonlinear voltage controller for parallel
inverters operating in islanded microgrid. The global asymptotic ¼ kd dðtÞSu ðtÞ kd q
^ ðtÞjSu ðtÞj kd q
~ ðtÞjSu ðtÞj
stability of proposed ASMC system is rigorously proofed by using ¼ kd dðtÞSu ðtÞ kd ðq
^ ðtÞ þ q
~ ðtÞÞjSu ðtÞj
Lyapunov second law. For one thing, the designed ASMC can elim-
¼ kd dðtÞSu ðtÞ kd qðtÞjSu ðtÞj
inate the reaching phase of motion state of control system of inver-
ter and makes the control system obtain global robustness by 6 kd jdðtÞjjSu ðtÞj kd qðtÞjSu ðtÞj ¼ kd ðjdðtÞj qðtÞÞjSu ðtÞj
designing adaptive algorithm to observe filter parameters. For 60 ðA:4Þ
another, the chattering of control-input signal is greatly reduced
by designing adaptive algorithm of switching gain which does
not need make a tradeoff between stability and chattering reduc-
Appendix C
tion. Simulating and experimental results are presented that the
ASMC can ensure the excellent dynamic and steady-state tracking
The design of CSMC.
ability of filter-capacitor voltage, and have ability to reject the dis-
The dynamics of inverter system (5) can be re-expressed as
turbances caused by filter-inductor variation, and can ensure volt-
age peak of filter capacitor within a shorter transient period in the 2
d uo Rf duo 1 1 1
case of sudden load connection. 2
¼ uo þ uin d ðA:5Þ
dt Lf dt Lf C f Lf C f Lf C f
R
Acknowledgements Defined h3, h4 and h5, respectively, as h3 ¼ L f , h4 ¼ L 1C , h5 ¼ L 1C
f f f f f
then, the dynamics of inverter system can be described as
The authors would like to express their gratitude for financial
support from: the Key Program of National Natural Science € o ¼ h3 u_ o þ h4 uo þ h5 uin þ h4 d
u ðA:6Þ
Foundation of China (51237003); China and European Inter-gov- Using the sliding surface (9), the control input (A.7) can guaran-
ernmental International Cooperation Project (2010DFA61640); tee asymptotic stability of control system if h3, h4 and h5 without
the National High Technology Research and Development of China variation (omitting proof process).
(863 Program) (2011AA05A301); the Fundamental Research Funds
8
for the Central Universities.
< uin ¼ uin sw þ uin tr
>
1
uin sw ¼ ðkd h4 Þ qsgnðSu ðtÞÞ ðA:7Þ
>
: 1
Appendix A uin tr ¼ ðkd h4 Þ ½kp e_ ki e kd h3 u_ o kd h5 uo þ kd u
€r
The derivation for the first resultant item of (14). where q is a positive constant, and q > jkd dðtÞj.
Z. Chen et al. / Electrical Power and Energy Systems 66 (2015) 133–143 143